CANopenNode is an opensource CANopen Stack.

CANopen is the internationally standardized (EN 50325-4) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/

Stack is written in ANSI C in object-oriented way. Code is documented. License is LGPL V2.1.

Variables (communication, device, custom) are ordered in CANopen object dictionary and are accessible from both: C code and from CAN network.


CANopen Features:
 - NMT slave to start, stop, reset device.
 - Heartbeat producer/consumer error control.
 - PDO linking and dynamic mapping for fast exchange of process variables.
 - SDO expedited, segmented and block transfer for service access to all parameters.
 - SDO master.
 - Emergency message.
 - Sync producer/consumer.
 - Nonvolatile storage.


Flowchart of a typical CANopenNode implementation:
                           +-----------------------+
                           |     Program start     |
                           +-----------------------+
                                       |
                           +-----------------------+
                           |     CANopen init      |
                           +-----------------------+
                                       |
                           +-----------------------+
                           |     Start threads     |
                           +-----------------------+
                                 |     |     |
            +--------------------+     |     +--------------------+
            |                          |                          |
+-----------------------+  +-----------------------+  +-----------------------+
| CAN receive thread    |  | Mainline thread       |  | Timer interval thread |
|                       |  |                       |  |                       |
| - Fast response.      |  | - Processing of time  |  | - Realtime thread with|
| - Detect CAN ID.      |  |   consuming tasks     |  |   constant interval,  |
| - Partially process   |  |   in CANopen objects: |  |   typically 1ms.      |
|   messages and copy   |  |    - SDO server,      |  | - Network synchronized|
|   data to target      |  |    - Emergency,       |  | - Copy inputs (RPDOs, |
|   CANopen objects.    |  |    - Network state,   |  |   HW) to Object Dict. |
|                       |  |    - Heartbeat.       |  | - May call application|
|                       |  | - May cyclically call |  |   for some processing.|
|                       |  |   application code.   |  | - Copy variables from |
|                       |  |                       |  |   Object Dictionary to|
|                       |  |                       |  |   outputs (TPDOs, HW).|
+-----------------------+  +-----------------------+  +-----------------------+

             +-----------------------+
             | SDO client (optional) |
             |                       |
             | - Can be called by    |
             |   external application|
             | - Can read or write   |
             |   any variable from   |
             |   Object Dictionary   |
             |   from any node in the|
             |   CANopen network.    |
             +-----------------------+


Supported microcontrollers:
 - Template for new microcontroller support for CANopenNode:
   - Contributed by Janez Paternoster
   - Status:
     - Well commented.
     - Should compile on any system.
     - No interface to any CAN hardware.
     - Template for parameter storage via objects 0x1010 and 0x1011.

 - Linux socketCAN:
   - Contributed by Janez Paternoster
   - Status:
     - ...

 - eCos RTOS:
   - The driver supports any hardware that is supported by the eCos CAN framework.
     See http://ecos.sourceware.org/
   - Contributed by Uwe Kindler:
     - See: http://sourceforge.net/p/canopennode/discussion/387151/thread/7603e3b5/
   - Tested (sep 2013):
     - Olimex LCP-E2294-1MB board: https://www.olimex.com/Products/ARM/NXP/LPC-E2294-1MB/
     - Olimex LPC-L2294-1MB board: https://www.olimex.com/Products/ARM/NXP/LPC-L2294-1MB/
   - Status:
     - stable.
     - Parameter storage via objects 0x1010 and 0x1011 (eCos generic flash support).

 - Microchip PIC32MX:
   - Contributed by Janez Paternoster
   - Tested (date):
     - 
   - Status:
     - Stable.
     - Parameter storage via objects 0x1010 and 0x1011 (external eeprom).

 - Microchip PIC24H and dsPIC33F:
   - Contributed by Janez Paternoster
   - Tested (date):
     - 
   - Status:
     - stable/unconfirmed

 - Microchip dsPIC30F:
   - Contributed by Janez Paternoster
   - Tested (?):

 - NXP LPC177x (Cortex M3) and FreeRTOS.
   - Contributed by AmitH(sourceforge) (17.9.2014):
     - See: http://sourceforge.net/p/canopennode/discussion/387151/thread/d1b43992
   - Status:
     - unconfirmed

 - Atmel SAM3X:
   - Used with Atmel ASF library.
   - Contributed by Olof Larsson (dec 2014):
     - See: http://sourceforge.net/p/canopennode/discussion/387151/thread/8e789d60/
   - Status:
     - unconfirmed

 - Freescale MCF5282 (ColdFire V2)
   - Contributed by Laurent Grosbois (mar 2012):
     - See: http://sourceforge.net/p/canopennode/code_complete/ci/master/tree/mcf5282_ongoingdev/
   - Status:
     - unconfirmed

 - ST STM32:
   - Contributed by ?
   - Status:
     - unknown


Other known implementations with source code:
 - AD ADSP-CM408 mixed signal controller
   - http://www.analog.com/en/processors-dsp/cm4xx/adsp-cm408f/products/cm40x-ez/eb.html
   - Contributed by Analog devices, Inc. (dec 2014):
     - See: http://sourceforge.net/p/canopennode/discussion/387151/thread/bfbcab97/
   - Package and setup user guide are available at:
     - http://sourceforge.net/projects/canopennode-for-adsp-cm408f/
     - http://sourceforge.net/projects/canopennode-for-adsp-cm408f/files


Discontinued implementations from earlier versions of CANopenNode:
 - Microchip PIC18F
 - BECK IPC Embedded Web-Controller SC243


History of the project:
Project was initially hosted on http://sourceforge.net/projects/canopennode/
It started in 2004 with PIC18F microcontrollers from Microchip.
Fresh, cleaned repository of CANopenNode stack started on 25.7.2015.
For older history see http://sourceforge.net/p/canopennode/code_complete/